信息与控制2017，Vol.46Issue(3)：335-341,7.DOI:10.13976/j.cnki.xk.2017.0335
基于人工免疫算法的滚动优化在康复机器人中的应用研究
Application of the Rolling Optimization Based on Artificial Immune Algorithm to Rehabilitation Robot
摘要
Abstract
In the process of active rehabilitation training for an upper limb rehabilitation robot, unpredictable interaction forces exist between human and robot, and the disturbance of patients′ spasm is an issue.To address these problems, this paper designed a nonlinear rolling horizon tracking control algorithm based on real-time acquisition of human-robot interaction force.The stability of the controller is analyzed;this controller can predict the future dynamic of the system on the basis of a linear model at each sampling.The artificial immune optimization algorithm is adopted as a rolling optimization strategy, which not only improves the anti-jamming performance of the system but also ensures that the system can obtain a feasible solution in the entire prediction time domain.Simulation results show the effectiveness of the proposed controller.关键词
康复机器人/主动康复训练/滚动时域控制/滚动优化/人工免疫算法Key words
rehabilitation robot/active rehabilitation training/receding horizon control/rolling optimization/artificial immune algorithm分类
信息技术与安全科学引用本文复制引用
朱雪枫,王建辉,王晓峰..基于人工免疫算法的滚动优化在康复机器人中的应用研究[J].信息与控制,2017,46(3):335-341,7.基金项目
国家自然科学基金资助项目(61102124) （61102124）
国家自然科学基金青年基金资助项目(61503070) （61503070）
辽宁省基金博士启动项目(201501142) （201501142）
